How to rig a car wheel. I don't find the add single driver option
Yes, it's an UI update that happened between 2.77 and 2.74.

The workflow initially was to assign an "empty" driver and then define it in the graph editor. Nowdays it's provided an option to set a driver based on a picked object.

You can obtain the same result shown in your video by choosing "Manually Create Later (Single)" option in the driver menu.